Skip to content

Commit

Permalink
Miscellaneous FSAE changes (#104)
Browse files Browse the repository at this point in the history 
* Clamping voltages within a non noisy range

* Fixing DCL copy timer and clearing all faults every loop

* Copying over other thermistors from last reading

* Filtered mode works

* Disabling thermistors

* Printing cell temperatures

* inverted ccl

* Making Max Temp based on cell temps instead of thermistors

* Using continuous CCL for max CCL

* Disregarding therms if bad ADC reading

* Adding in lower bound temperature clamp

---------

Co-authored-by: nwdepatie <[email protected]>
  • Loading branch information
@dyldonahue @nwdepatie
dyldonahue and nwdepatie authored Jun 9, 2024
1 parent f075acd commit 027271a
Show file tree
Hide file tree
Showing 9 changed files with 308 additions and 171 deletions.
1 change: 1 addition & 0 deletions Core/Inc/bmsConfig.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@
#define MAX_DELTA_V 0.015
#define BAL_MIN_V 4.00
#define MAX_CELL_TEMP 55
#define MIN_CELL_TEMP 15
#define MAX_CELL_CURR 500 // Amps per BMS cell
#define MAX_CELL_TEMP_BAL 45
#define MAX_CHG_CELL_CURR 20
Expand Down
3 changes: 3 additions & 0 deletions Core/Inc/compute.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -189,4 +189,7 @@ void compute_send_cell_temp_message(acc_data_t* bmsdata);
*/
void compute_send_segment_temp_message(acc_data_t* bmsdata);

void compute_send_fault_message(uint8_t status, int16_t curr, int16_t in_dcl);
void compute_send_voltage_noise_message(acc_data_t* bmsdata);

#endif // COMPUTE_H
6 changes: 4 additions & 2 deletions Core/Inc/datastructs.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@
*/
typedef struct {
/* These are retrieved from the initial LTC comms */
uint16_t voltage_reading[NUM_CELLS_PER_CHIP]; /* store voltage readings from each chip */
uint16_t voltage[NUM_CELLS_PER_CHIP]; /* store voltage readings from each chip */
int8_t thermistor_reading[NUM_THERMS_PER_CHIP]; /* store all therm readings from each chip */
int8_t thermistor_value[NUM_THERMS_PER_CHIP];
int error_reading;
Expand All @@ -22,7 +22,8 @@ typedef struct {
float cell_resistance[NUM_CELLS_PER_CHIP];
uint16_t open_cell_voltage[NUM_CELLS_PER_CHIP];

uint8_t bad_volt_diff_count[NUM_CELLS_PER_CHIP];
uint8_t noise_reading[NUM_CELLS_PER_CHIP]; /* bool representing noise ignored read */
uint8_t consecutive_noise[NUM_CELLS_PER_CHIP]; /* count representing consecutive noisy reads */
} chipdata_t;

/**
Expand Down Expand Up @@ -92,6 +93,7 @@ typedef struct {
uint8_t soc;

int8_t segment_average_temps[NUM_SEGMENTS];
uint8_t segment_noise_percentage[NUM_SEGMENTS];

/**
* @brief Note that this is a 32 bit integer, so there are 32 max possible fault codes
Expand Down
185 changes: 101 additions & 84 deletions Core/Src/analyzer.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -123,18 +123,18 @@ const uint8_t RELEVANT_THERM_MAP_L[NUM_CELLS_PER_CHIP][NUM_RELEVANT_THERMS] =

uint8_t THERM_DISABLE[NUM_CHIPS][NUM_THERMS_PER_CHIP] =
{
{1, 0, 1, 0, 0, 1, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 1, 0},
{1, 0, 1, 0, 0, 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 0, 0, 1, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 0, 1, 1, 1},
{1, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 1, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 1, 0, 0, 0, 1, 0},
{1, 0, 1, 0, 0, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 1, 0, 0, 0, 0},
{1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 0, 0, 1, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1},
{1, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 1, 1, 1, 1, 0, 0},
{1, 1, 1, 0, 0, 1, 1, 0, 1, 0, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 0},
{1, 0, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 0},
{1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0},
{1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 0, 0},
{1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0},
{1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}
{1,0,1,0,0,1,0,1,1,1,0,1,0,0,1,0,0,0,1,0,0,0,0,1,1,1,0,0,0,0,1,0 },
{1,0,1,0,0,1,0,0,1,0,1,1,0,1,1,0,0,1,1,1,0,1,0,1,1,1,1,1,0,1,1,1 },
{1,0,1,0,0,1,0,0,1,0,0,1,1,0,1,0,0,0,1,0,0,0,1,0,0,0,1,0,0,0,1,0 },
{1,0,1,0,0,1,0,0,1,1,0,1,0,0,1,0,0,0,0,0,1,1,1,0,1,0,0,1,0,0,0,0 },
{1,0,1,0,0,1,0,1,1,0,0,1,0,0,1,0,1,0,1,0,0,0,0,0,0,0,0,0,0,1,1,1 },
{1,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,0,0,0,0,1,0,0,1,0,1,1,1,0,0,0 },
{1,0,1,0,0,1,0,0,1,0,1,1,0,0,1,1,0,0,1,0,1,1,1,0,0,0,0,0,0,0,1,0 },
{1,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,0,0,0,0,1,0,0,1,0,1,1,1,1,1,1 },
{1,1,1,0,0,1,0,0,1,0,0,1,0,0,1,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0 },
{1,0,1,0,0,0,0,0,1,0,0,1,0,0,1,0,1,0,0,1,0,1,0,0,1,0,0,1,0,0,0,0 },
{1,1,1,0,0,1,0,0,1,1,0,1,0,0,1,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0,1,0 },
{1,1,1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,0,0,0,0,1,0,1,1,1,0,1,0,1,0,0 }
};

/*
Expand Down Expand Up @@ -193,56 +193,25 @@ void calc_state_of_charge();

void calc_cell_temps()
{
static uint8_t num_samples = 7; /* Samples for LPF */

for (uint8_t c = 0; c < NUM_CHIPS; c++) {
//const uint8_t (*therm_map)[NUM_RELEVANT_THERMS] = (c % 2 == 0) ? RELEVANT_THERM_MAP_L : RELEVANT_THERM_MAP_H;
int16_t therm_sum = 0;
uint8_t therm_count = 0;

for (uint8_t therm = 0; therm < NUM_THERMS_PER_CHIP; therm++) {

if (THERM_DISABLE[c][therm]) continue;

therm_sum += bmsdata->chip_data[c].thermistor_value[therm];
therm_count++;
}

int8_t temp_avg = therm_sum / therm_count;

for (uint8_t therm = 0; therm < NUM_THERMS_PER_CHIP; therm++) {
bmsdata->chip_data[c].thermistor_value[therm] = temp_avg;
bmsdata->chip_data[c].thermistor_value[therm] = (int8_t)((((int64_t)prevbmsdata->chip_data[c].thermistor_value[therm] * (num_samples - 5))
+ bmsdata->chip_data[c].thermistor_value[therm] * 5) / num_samples);
}

for (uint8_t cell = 0; cell < NUM_CELLS_PER_CHIP; cell++) {

/* Takes the average temperature of all the relevant thermistors */
bmsdata->chip_data[c].cell_temp[cell] = bmsdata->chip_data[c].thermistor_value[0]; /* Note, all temp readings are the same at this point */

/* Low Pass Filter */


/* Cleansing value */
if (bmsdata->chip_data[c].cell_temp[cell] > MAX_TEMP) {
bmsdata->chip_data[c].cell_temp[cell] = MAX_TEMP;
const uint8_t (*therm_map)[NUM_RELEVANT_THERMS] = (c % 2 == 0) ? RELEVANT_THERM_MAP_L : RELEVANT_THERM_MAP_H;
uint8_t therm_count = 0;
int temp_sum = 0;
for (uint8_t therm = 0; therm < NUM_RELEVANT_THERMS; therm++) {
uint8_t thermNum = therm_map[cell][therm];

if (thermNum != NO_THERM) {
//printf("%d\t", bmsdata->chip_data[c].thermistor_value[therm]);
temp_sum += bmsdata->chip_data[c].thermistor_value[therm];
therm_count++;
}
}
//printf("\r\n");
/* Takes the average temperature of all the relevant thermistors */
bmsdata->chip_data[c].cell_temp[cell] = temp_sum / therm_count;
therm_count = 0;
}
// uint8_t therm_count = 0;
// int temp_sum = 0;
// for (uint8_t therm = 0; therm < NUM_RELEVANT_THERMS; therm++) {
// uint8_t thermNum = therm_map[cell][therm];

// if (thermNum != NO_THERM) {
// temp_sum += bmsdata->chip_data[c].thermistor_value[thermNum];
// therm_count++;
// }
// }

// /* Takes the average temperature of all the relevant thermistors */
// bmsdata->chip_data[c].cell_temp[cell] = temp_sum / therm_count;
// therm_count = 0;
}
}

Expand All @@ -262,20 +231,20 @@ void calc_pack_temps()
for (uint8_t therm = 0; therm < NUM_THERMS_PER_CHIP; therm++) {
/* finds out the maximum cell temp and location */

if (THERM_DISABLE[c][therm]) continue;
//if (THERM_DISABLE[c][therm]) continue;
total_accepted++;
if (bmsdata->chip_data[c].thermistor_value[therm] > bmsdata->max_temp.val) {
bmsdata->max_temp.val = bmsdata->chip_data[c].thermistor_value[therm];
bmsdata->max_temp.cellNum = c;
bmsdata->max_temp.chipIndex = therm;
}
//if (bmsdata->chip_data[c].thermistor_value[therm] > bmsdata->max_temp.val) {
// bmsdata->max_temp.val = bmsdata->chip_data[c].thermistor_value[therm];
// bmsdata->max_temp.cellNum = c;
// bmsdata->max_temp.chipIndex = therm;
//}

/* finds out the minimum cell temp and location */
if (bmsdata->chip_data[c].thermistor_value[therm] < bmsdata->min_temp.val) {
bmsdata->min_temp.val = bmsdata->chip_data[c].thermistor_value[therm];
bmsdata->min_temp.cellNum = c;
bmsdata->min_temp.chipIndex = therm;
}
//if (bmsdata->chip_data[c].thermistor_value[therm] < bmsdata->min_temp.val) {
// bmsdata->min_temp.val = bmsdata->chip_data[c].thermistor_value[therm];
// bmsdata->min_temp.cellNum = c;
// bmsdata->min_temp.chipIndex = therm;
//}

total_temp += bmsdata->chip_data[c].thermistor_value[therm];
total_seg_temp += bmsdata->chip_data[c].thermistor_value[therm];
Expand All @@ -288,6 +257,24 @@ void calc_pack_temps()
}
}


for (uint8_t c = 0; c < NUM_CHIPS; c++) {
for (uint8_t cell = 0; cell < NUM_CELLS_PER_CHIP; cell++) {
if (bmsdata->chip_data[c].cell_temp[cell] > bmsdata->max_temp.val) {
bmsdata->max_temp.val = bmsdata->chip_data[c].cell_temp[cell];
bmsdata->max_temp.cellNum = cell;
bmsdata->max_temp.chipIndex = c;
}

/* finds out the minimum cell temp and location */
if (bmsdata->chip_data[c].cell_temp[cell] < bmsdata->min_temp.val) {
bmsdata->min_temp.val = bmsdata->chip_data[c].cell_temp[cell];
bmsdata->min_temp.cellNum = cell;
bmsdata->min_temp.chipIndex = c;
}
}
}

/* takes the average of all the cell temperatures */
bmsdata->avg_temp = total_temp / (total_accepted);
}
Expand Down Expand Up @@ -317,8 +304,8 @@ void calc_pack_voltage_stats()
for (uint8_t cell = 0; cell < NUM_CELLS_PER_CHIP; cell++) {

/* fings out the maximum cell voltage and location */
if (bmsdata->chip_data[c].voltage_reading[cell] > bmsdata->max_voltage.val) {
bmsdata->max_voltage.val = bmsdata->chip_data[c].voltage_reading[cell];
if (bmsdata->chip_data[c].voltage[cell] > bmsdata->max_voltage.val) {
bmsdata->max_voltage.val = bmsdata->chip_data[c].voltage[cell];
bmsdata->max_voltage.chipIndex = c;
bmsdata->max_voltage.cellNum = cell;
}
Expand All @@ -330,8 +317,8 @@ void calc_pack_voltage_stats()
}

/* finds out the minimum cell voltage and location */
if (bmsdata->chip_data[c].voltage_reading[cell] < bmsdata->min_voltage.val) {
bmsdata->min_voltage.val = bmsdata->chip_data[c].voltage_reading[cell];
if (bmsdata->chip_data[c].voltage[cell] < bmsdata->min_voltage.val) {
bmsdata->min_voltage.val = bmsdata->chip_data[c].voltage[cell];
bmsdata->min_voltage.chipIndex = c;
bmsdata->min_voltage.cellNum = cell;
}
Expand All @@ -342,7 +329,7 @@ void calc_pack_voltage_stats()
bmsdata->min_ocv.cellNum = cell;
}

total_volt += bmsdata->chip_data[c].voltage_reading[cell];
total_volt += bmsdata->chip_data[c].voltage[cell];
total_ocv += bmsdata->chip_data[c].open_cell_voltage[cell];
}
}
Expand Down Expand Up @@ -382,7 +369,7 @@ void calc_cell_resistances()

void calc_dcl()
{
nertimer_t dcl_timer;
static nertimer_t dcl_timer;

int16_t current_limit = 0x7FFF;

Expand Down Expand Up @@ -411,6 +398,7 @@ void calc_dcl()
bmsdata->discharge_limit = 0;
}

/* State machine to prevent DCL from plummeting, copy over last DCL for 500ms */
else if (!is_timer_active(&dcl_timer) && current_limit < 5) {
if (prevbmsdata == NULL) {
bmsdata->discharge_limit = current_limit;
Expand Down Expand Up @@ -501,6 +489,10 @@ void calc_cont_ccl()
} else {
bmsdata->cont_CCL = TEMP_TO_CCL[max_res_index];
}

if (bmsdata->cont_CCL > MAX_CHG_CELL_CURR){
bmsdata->cont_CCL = MAX_CHG_CELL_CURR;
}
}

void calc_open_cell_voltage()
Expand All @@ -510,7 +502,7 @@ void calc_open_cell_voltage()
for (uint8_t chip = 0; chip < NUM_CHIPS; chip++) {
for (uint8_t cell = 0; cell < NUM_CELLS_PER_CHIP; cell++) {
bmsdata->chip_data[chip].open_cell_voltage[cell]
= bmsdata->chip_data[chip].voltage_reading[cell];
= bmsdata->chip_data[chip].voltage[cell];
}
}
return;
Expand All @@ -523,12 +515,12 @@ void calc_open_cell_voltage()
for (uint8_t cell = 0; cell < NUM_CELLS_PER_CHIP; cell++) {
/* Sets open cell voltage to a moving average of OCV_AVG values */
bmsdata->chip_data[chip].open_cell_voltage[cell]
= ((uint32_t)(bmsdata->chip_data[chip].voltage_reading[cell])
= ((uint32_t)(bmsdata->chip_data[chip].voltage[cell])
+ ((uint32_t)(prevbmsdata->chip_data[chip].open_cell_voltage[cell])
* (OCV_AVG - 1)))
/ OCV_AVG;
bmsdata->chip_data[chip].open_cell_voltage[cell]
= bmsdata->chip_data[chip].voltage_reading[cell];
= bmsdata->chip_data[chip].voltage[cell];

if (bmsdata->chip_data[chip].open_cell_voltage[cell] > MAX_VOLT * 10000) {
bmsdata->chip_data[chip].open_cell_voltage[cell]
Expand Down Expand Up @@ -578,7 +570,7 @@ void analyzer_push(acc_data_t* data)
prevbmsdata = bmsdata;
bmsdata = data;

//disable_therms();
disable_therms();

//high_curr_therm_check(); /* = prev if curr > 50 */
// diff_curr_therm_check(); /* = prev if curr - prevcurr > 10 */
Expand All @@ -593,25 +585,30 @@ void analyzer_push(acc_data_t* data)
calc_cell_resistances();
calc_dcl();
calc_cont_dcl();
//calcCCL();
calc_cont_ccl();
calc_state_of_charge();
calc_noise_volt_percent();

data->charge_limit = data->cont_CCL;

is_first_reading_ = false;
}

void disable_therms()
{
int8_t temp_rep_1 = 25; /* Iniitalize to room temp (necessary to stabilize when the BMS first
boots up/has null values) */
// if (!is_first_reading_) temp_rep_1 = prevbmsdata->avg_temp; /* Set to actual average temp of
// the pack */
int8_t tmp_temp = 25; /* Iniitalize to room temp (necessary to stabilize when the BMS first boots up/has null values) */
if (!is_first_reading_) tmp_temp = prevbmsdata->avg_temp; /* Set to actual average temp of the pack */

for (uint8_t c = 0; c < NUM_CHIPS; c++) {
for (uint8_t therm = 0; therm < NUM_THERMS_PER_CHIP; therm++) {
/* If 2D LUT shows therm should be disable */
if (THERM_DISABLE[c][therm]) {
/* Nullify thermistor by setting to pack average */
bmsdata->chip_data[c].thermistor_value[therm] = temp_rep_1;
bmsdata->chip_data[c].thermistor_value[therm] = tmp_temp;
}
else {
bmsdata->chip_data[c].thermistor_value[therm] = bmsdata->chip_data[c].thermistor_reading[therm];
}
}
}
Expand Down Expand Up @@ -641,6 +638,26 @@ void calc_state_of_charge()
}
}

void calc_noise_volt_percent()
{
int i = 0;
for (uint8_t seg = 0; seg < NUM_SEGMENTS; seg++) {
uint8_t count = 0;
/* merge results from each of the two chips ona given segment */
for (uint8_t cell = 0; cell < NUM_CELLS_PER_CHIP; cell++) {
count = bmsdata->chip_data[seg + i].noise_reading[cell];
count += bmsdata->chip_data[seg + i + 1].noise_reading[cell];
}
i++;

/* turn into percentage */
//printf("count: %d\r\n", count);
bmsdata->segment_noise_percentage[seg] = (uint8_t)(100 * (count) / (NUM_CELLS_PER_CHIP * 2.0f));

}
}


void high_curr_therm_check()
{
if (prevbmsdata == NULL)
Expand Down
Loading

0 comments on commit 027271a

Please sign in to comment.